from launch import LaunchDescription
from launch.actions import DeclareLaunchArgument, IncludeLaunchDescription
from launch.conditions import IfCondition, UnlessCondition
from launch.substitutions import LaunchConfiguration
from launch_ros.actions import Node, SetRemap
from launch_ros.substitutions import FindPackageShare
from launch.launch_description_sources import PythonLaunchDescriptionSource
import os

def generate_launch_description():
    save_node = Node(
        package = 'cartographer_ros',
        executable = 'carto_save_map',
        arguments = ['-pbstream_filename', '/home/reiko/codespace/ros2code/carto_humble/assets/b0-2014-07-21-12-49-19.pbstream'],
        output = 'screen'
        )
    
    return LaunchDescription([
        save_node,
    ])
